# Drone Landing Simulation (GPS-Denied)

Land a drone on a moving platform using only relative sensors (IMU, altimeter, camera).

## Quick Start

### Standalone (1 Terminal - Any Platform)

```bash
source activate.sh
python standalone_simulation.py --pattern circular
```

### Gazebo + ROS 2 (2 Terminals)

**Terminal 1:**
```bash
ros2 launch gazebo/launch/drone_landing.launch.py
```

**Terminal 2:**
```bash
source activate.sh
python run_gazebo.py --pattern circular
```

### ArduPilot SITL (2 Terminals)

**Terminal 1:**
```bash
gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
```

**Terminal 2:**
```bash
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
```

## Installation

```bash
# Ubuntu/Debian
./setup/install_ubuntu.sh

# ArduPilot SITL (optional)
./setup/install_ardupilot.sh

# Activate environment
source activate.sh
```

## Files

| File | Description |
|------|-------------|
| `standalone_simulation.py` | All-in-one simulation |
| `run_gazebo.py` | Gazebo controllers |
| `drone_controller.py` | **Your landing algorithm** |
| `camera_viewer.py` | Drone camera window |
| `config.py` | Configuration |

## Sensors

| Sensor | Data |
|--------|------|
| IMU | Orientation, angular velocity |
| Altimeter | Altitude, vertical velocity |
| Camera | 320x240 downward image |
| Landing Pad | Relative position (when visible) |

## Options

```bash
--pattern, -p   stationary, linear, circular, square, random
--speed, -s     Speed in m/s (default: 0.5)
```

## Documentation

| Document | Description |
|----------|-------------|
| [Installation](docs/installation.md) | Setup guide |
| [Architecture](docs/architecture.md) | System overview |
| [ArduPilot](docs/ardupilot.md) | ArduPilot SITL |
| [Drone Guide](docs/drone_guide.md) | Algorithm guide |